Method and apparatus for failure handling of a robot

ABSTRACT

A method and apparatus for failure handling of a robot having at least a first and a second movement axis are disclosed. In one embodiment the method includes receiving a first position information of the first movement axis for a first point of time and a first position information of the second movement axis for the first point of time and storing the received first position information as a motion data set, receiving a second position information of the first movement axis for a second point of time and a second position information of the second movement axis for the second point of time and storing the received second position information in the motion data set and controlling the robot according to a failure procedure.

TECHNICAL FIELD

Embodiments of the present invention refer to a method for failurehandling of a robot, to a storage medium having stored thereon softwareenabling the failure handling and to a corresponding apparatus forfailure handling. Further embodiments refer to a controller enabled forfailure handling and to a robot comprising such a controller.

BACKGROUND

A robot is an electromechanical machine having at least one, butpreferably multiple actuated joints such that same is enabled to performmanual tasks like manufacturing tasks. A special robot type which isoften used for industrial applications is the so called articulatedrobots having a plurality of movement axes. Here, the movement axis maybe arranged in series. The movement axis may be a flection axis, alinear displacement axis and/or a rotation axis. A particular form of anarticulated robot is the so called kinematically redundant robot havingmore movement axes than degrees of freedom. Thus, a position of therobotic arm may be reached via multiple possible combinations of theaxis positions.

In order to control a robot it typically comprises or is typicallycoupled to a robot controller. This robot controller controls thesingular actors of the movement axis such that the robot can move fromthe start position to a further position along a predeterminedtrajectory (path of motion) and vice versa. This trajectory is theresult of a combination of a sequence of movements of the multiplemovement axes. However, in case of a failure, e.g., a clash of the robotwith another object the failure handling procedure is rather complicatedso that the failure handling procedure cannot be processedautomatically. Background thereof is that the described robots aretypically enabled for soft acting, i.e., that all movement axes are putto a forceless state in case of a clash. This soft acting enables toavoid damaging the robot or the clash object, wherein the end positionof the robot (after the clash) is unknown because same is out of theknown movement path. Therefore, there is the need for an improvedapproach.

SUMMARY OF THE INVENTION

Embodiments of the invention refer to a method for failure handling of arobot having at least a first and a second movement axis. The methodcomprises the step of receiving a first position information of thefirst movement axis for a first point of time and a first positioninformation of the second movement axis for the first point of time. Thereceived first position information is stored as a motion data set.Furthermore, the method comprises the step of receiving a secondposition information of the first movement axis for a second point oftime and a second position information of the second movement axis forthe second point of time. This received second position information isstored in the motion data set as well. The last step is controlling therobot according to a failure procedure if a robot failure, e.g., aclash, is detected. The failure procedure comprises triggering the robotto move the first and second movement axis to its second position andtriggering the robot to move the first and second movement axis to itsfirst position afterwards.

A further embodiment provides a computer readable digital storage mediumhaving stored thereon a computer program having a program code forperforming, when running on a computer, the above method for failurehandling of the robot.

The further embodiment provides an apparatus for failure handling of arobot having at least a first and a second axis. The apparatus isconfigured to receive the position information of the first and thesecond movement axis of the robot, to store motion data using a memoryand to control the robot if the robot causes a failure via controlsignals which are based on the stored motion data. The stored motiondata comprises a first position information of the first movement axisfor a first point of time, a second position information of the firstmovement axis for the second point of time, a first position informationof the second movement axis for the first point of time and the secondposition information of the second movement axis for the second point oftime. The control signals comprise a first control signal triggering therobot to move the first and second movement axis to its second positionand a second control signal triggering the robot to move the first andthe second movement axis to its first position. The first control signalis output before outputting the second control signal such that a robotmoves to the second position before moving to the first position.

A further embodiment provides a controller for controlling a robothaving at least a first and a second movement axis. The controller isconfigured to control the first and the second movement axis accordingto a control algorithm and is configured to store motion data using amemory and to control the robot if the robot causes a failure viacontrol signals which are based on the stored motion data. The storedmotion data comprises a first position information on the first movementaxis for a first point of time, a second position information of thefirst movement axis for a second point of time, a first positioninformation of the second movement axis for the first point of time anda second position information of the second movement axis for the secondpoint of time. The control signals comprise a first control signaltriggering the robot to move the first and the second movement axis toits second position and a second control signal triggering the robot tomove the first and the second movement axis to its first position. Thefirst control signal is output before outputting the second controlsignal such that the robot moves the second position before moving tothe first position.

According to a further embodiment a robot comprises a first movementaxis, a second movement axis and a controller for controlling the firstand the second movement axis. Furthermore, the robot comprises anapparatus for failure handling, the apparatus is configured to storemotion data using a memory and to control the robot if the robot causesa failure via control signals which are based on the stored motion data.The stored motion data comprises a first position information of thefirst movement axis for a first point of time, a second positioninformation of the first movement axis for a second point of time, afirst position information of the second movement axis for the firstpoint of time and a second position information of the second movementaxis for the second point of time. The control signals comprise a firstcontrol signal triggering the robot to move the first and the secondmovement axis to its second position and the second control signaltriggering the robot to move the first and the second movement axis toits first position. The first control signal is output before outputtingthe second control signal such that the robot moves to the secondposition before moving to the first position.

BRIEF DESCRIPTION OF THE DRAWINGS

Below, embodiments of the present invention will subsequently bediscussed referring to the enclosed drawings:

FIG. 1a shows a flowchart of a method for failure handling of a robotaccording to a first embodiment;

FIGS. 1b-1d show a motion sequence of an exemplary robot;

FIG. 1e shows a trajectory (in a forward direction) of the robotperforming the motion as illustrated by FIGS. 1b to 1 d;

FIG. 1F shows a return trajectory (in a backward direction) of the robotof FIGS. 1b to 1d according to a failure handling procedure;

FIG. 2a shows a block diagram of an apparatus for failure handlingaccording to an embodiment;

FIG. 2b shows a block diagram of robot comprising a controller and anapparatus for failure handling according to a further embodiment;

FIGS. 3a and 3b show two diagrams describing the motion of a robot forillustrating two different modes of adapting the number of storedpositions of the robot; and

FIGS. 4a-4c show diagrams of a trajectory of a robot for illustratingthe failure handling according to an enhanced embodiment.

Below, embodiments of the present invention will be discussed in detailreferring to the figures, wherein same reference numerals are providedto objects or elements having an identical or similar function so thatthe description thereof is interchangeable or mutually applicable.

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

FIG. 1 shows a block diagram of a method 100 comprising at least threebasic steps 110, 120 and 130. The step 110 refers to a step of receivinga first position information of the first movement axis for a firstpoint of time and receiving a first position information of a secondmovement axis for the same point of time. For example, the respectivefirst position information for the two movement axis may comprise anangle value of the first movement axis and a further angle value for thesecond movement axis. The position information may be provided by arobot controller or may be read out from a sensor system of the robot.These two substeps of receiving the two position information (of thefirst and second axes) are aggregated to a common step because the twofirst position information (or, in general, position informationindicating the position of the movement axes for the same point of time)are typically provided contemporaneously. This first positioninformation is stored as motion data in a motion data set. The next step120 is similar to the step 110, but has the purpose to collect theposition information of the first and second movement axis for a second(further) point of time afterwards. This point of time is preferablyselected such that the robot has performed a movement during the periodof time from the first point of time to the second point of time. Duringthis step 120 the second position information for the first and secondmovement axis and for the second point of time is also stored in themotion data set. Thus, the motion data set comprises positioninformation for the robot for at least two different points of time sothat the trajectory of a robot is reconstructible.

The last basic step of the method 100 (after collecting the singularposition information or after collecting the motion data) is the step130. This step of controlling the robot according to a failure procedureis performed just in case of a detected failure. This dependency isillustrated by the point 140 arranged between the steps 120, 130. Thedetection of the failure may be the task of the robot which typicallyhas a collision sensor or a collision sensing system. After thedetection of the failure 140 the method provides the failure handlingprocedure 130 which comprises at least two substeps 132 and 134 whichare performed in sequence. The first procedure substep 132 triggers therobot to move the first and second movement axis to its second (last)position (cf. step 120). That is, the robot is controlled such that samemoves to the last known or last safe position, or expressed in otherwords to the position before detecting the failure. After performingthis substep 132 the robot is in the second position, or to be preciseall moving axes are in their second position. The subsequent substep isthe step 134 of triggering the robot to move the first and secondmovement axis to its first position, e.g., to the start position of therobot. The result is that the robot was enabled to automatically returnto the start position of the robot in case of a failure. This embodimentwas explained on the assumption that just two positions have beenrecorded during the trajectory before failing.

According to further embodiments, the method 100 may comprise furthersteps of receiving a further position information of the first movementaxis for a further point of time and a further position information ofthe second movement axis for the further point of time and storing thereceived further position information in the motion data set such thatthe trajectory may be recorded more accurately. These optional furthersteps may be arranged between the step 120 and the failing event 140.According to this embodiment the failure handling procedure 130 may alsocomprise further steps of triggering the robot to move the first andsecond movement axis to its further positions, wherein these optionalfurther steps are arranged before the step 132, i.e., between thefailing event 140 and the triggering step 132.

According to a further embodiment, the above described method may beenhanced with respect to the complexity of the robot, as will bedescribed below.

FIG. 1b shows schematically an articulated robot arm 10 comprising sevenjoints 12 a to 12 g, wherein the place of location of the robot arm 10is marked by the reference numeral 11 (fix position 11). The sevenjoints 12 a to 12 g are arranged serial kinematically, wherein a socalled tool center point 14 is coupled to the last joint 12 g. Theillustrated robot 10 has two different types of joints, namely thejoints 12 a, 12 c, 12 e and 12 g performing a rotation around a movementaxis which extends along the respective segment of the articulated arm10. The joints 12 b, 12 d and 12 f are configured to perform an angularmovement. All in all, the robot 10 has more movement axes thandimensions. Thus, the illustrated robot 10 belongs to the group of socalled kinematically redundant robots.

The robot 10 illustrated by FIG. 1b is arranged in the first positionP1, wherein the first position is a combination of first positions ofthe singular joints 12 a to 12 g. Here, each first position of thejoints 12 a to 12 g may be described by a value, e.g., a value ofrotation or an angle value of flection. That is, the first position ofthe robot may be described by absolute values of the single movementaxes 12 a to 12 g.

In order to illustrate this relationship in detail, FIGS. 1c and 1d showthe same robot 10 in different positions P2 and P3 when compared to thefirst position P1. In the second position P2 the joints 12 b and 12 fare changed when compared to the first position P1. The third positionP3 differs from the second position P2 with respect to the positions ofthe joints 12 b and 12 d. Due to the sequential and/or parallel movementof the joints 12 b, 12 d and 12 f along the respective movement axes 12a-12 g the tool center point 14 is moved along a trajectory startingfrom the position P1 to the position P3.

This trajectory 18 is illustrated by FIG. 1e . In the diagram of FIG. 1e, the respective places of location 11 _(P1), 11 _(P2) and 11 _(P3) areillustrated relative to the positions P1, P2 and P3. The trajectory 18as shown in FIG. 1e has a wave shape, wherein this trajectory 18 resultsfrom a combination of different movements of the different joints 12 ato 12 g, as described above. From another point of view, this means thatthe position of the tool center point 14 may be described as acombination of the position information of the singular joints 12 a to12 g. This kind of position information has the advantage, especially incomparison to a position information given by using just Cartesiancoordinates of the tool center point 14, that even the posture positionof the entire robot 10 is describable for the kinematically redundantsystem. Background thereof is that, in case of a kinematically redundantsystem, there are typically pluralities of different combinations of thepositions of the singular joints 12 a to 12 g in order to position theTCP 14 to a certain position in the 3-dimensional space. Consequently,there are also multiple solutions to move the robot from the position P1to the position P3 or vice versa. Therefore, it is a common approach topredefined a trajectory from the start position (e.g., P1) to the endposition of the tool center point 14 (e.g., from the position P3) andback to the start position P1. However, in case of a failure, forexample clash of the robot 10, the robot 10 stops in a undefinedposition somewhere in between.

In order to enable the automatic return of the robot 10 to the startposition P1 the intermediate positions of the robot 10 are recordedduring the motion along the trajectory 18 (cf. FIG. 1e ) according tothe basic method illustrated by FIG. 1a . The result of the trajectoryrecording is illustrated by the following table:

TABLE 1 12a 12b 12c 12d 12e 12f 12g t1 43.382° 97.33° 162.352° −0.17°−63.55° 19.55° 117.19° t2 43.382° 101.22° 162.352° −2.33° −63.55° 17.2°117.19° t3 43.382° 105.669° 162.352° −9.195° −63.55° 15.49° 117.19° t443.382° 110.5° 162.352° −16.741° −63.55° 12.98° 117.19° t5 43.382°113.76° 162.352° −19.96° −63.55° 10.45° 117.19° . . . . . . . . . . . .. . . . . . . . . . . .

The table, also referred to as motion data set, represents the(numerical) recording of the trajectory 18, wherein the recording isbased on a plurality of snapshots (here: five or more snapshots) fordifferent point of times t1 to tn (here: t5). Each position for therespective point of time t1 to t5 comprises seven absolute values forthe seven joints 12 a to 12 g. It should be noted that the absolutevalues of this embodiment are provided by using the unit degree. It isclear that the number of recorded point of times per time unit has adirect influence on the reconstruction of the trajectory of the robot.Consequently, this means that the higher number of recorded point oftimes per time unit leads to a better resolution for the trajectoryrecording. The values to be recorded are typically available from thecontroller of the robot or from the robot itself. The values may beprovided by the robot or the robot controller separately for eachmovement axis or as combined data set. According to a common industrialapproach the position information or movement information is provided byusing a data type comprising all values of the kinematical movement.That means that the values to be recorded are easily readable from therobot controller or the robot. Preferably, a complete motion data setmay be read out from the robot controller or the robot.

Based on the recorded data set comprising the plurality of positioninformation for the plurality of point of times, the robot can becontrolled such that same regresses along the trajectory, (cf. FIG. 1e )i.e., along the backwards trajectory as illustrated by FIG. 1f . Figureif illustrates the backwards trajectory 30′ for the TCP 14 for thefailure handling procedure. Here, the x-axis of the diagram belongs tothe time domain t. The time axis comprises a plurality of marks, eachassigned to a point of time of a recording of the movement position ofthe respective movement axis. The three points of time t_(P1), t_(P2)and t_(P3) for the three positions P1, P2 and P3 are marked with therespective reference numerals. In the backwards directory the toolcenter point is moved from the point P3 to the point P1 over theintermediate point P2. For this movement the singular positions asstored by the data set (cf. above table) are read out backwards. Thisbackward reading out of the recorded motion data set is illustrated bythe following table:

TABLE 2 12a 12b 12c 12d 12e 12f 12g . . . . . . . . . . . . . . . . . .. . . . . . t6 . . . . . . . . . . . . . . . . . . . . . t5 43.382°113.76° 162.352° −19.96° −63.55° 10.45° 117.19° t4 43.382° 110.5°162.352° −16.741° −63.55° 12.98° 117.19° t3 43.382° 105.669° 162.352°−9.195° −63.55° 15.49° 117.19° t2 43.382° 101.22° 162.352° −2.33°−63.55° 17.2° 117.19° t1 43.382° 97.33° 162.352° −0.17° −63.55° 19.55°117.19°

Due to the fact that the recorded positions of the movement axis formthe basis for the return path 18′ this described failure handlingprocedure may also be used in case of a new predefined path 18. From ourpoint of view that means that the failure handling procedure does nothave to be changed in case of a new predefining of the trajectory 30.

The above description was made on the assumption that the velocity andthus the acceleration of the movements of the joints are not constant.However, according to a further embodiment the recording of the motiondata comprises the recording of the velocity Δv and/or of theacceleration for each movement axis. This enables to drive the robotwith the same (inverted) motion backwards (when compared to the forwarddirection) especially in case of a varying velocity. Thus, according tothis embodiment the controller controls the robot such that the singularpositions are achieved using the stored velocity Δv and/or the storedacceleration. This approach is especially advantageous in case of ahighly varying velocity resulting in varying distances Δx.

Below, the interaction of a controller performing the recording and thefailure handling and the regular robot controller will be discussed withrespect to FIGS. 2a and 2b , wherein further embodiments of the failurehandling will be discussed with respect to FIGS. 3a, 3b, 4a, 4b and 4 c.

FIG. 2a shows a controller for failure handling 20 which comprises atleast a memory 22 and a CPU 24. The controller 20 is coupled to thefurther controller for the robot 26 which has the purpose of controllingthe movement of the robot. Therefore, the failure handling controller 20and the robot controller 26 may be coupled via an interface 28comprising first interface part 28 a (of the controller 20) and a secondinterface part 28 b (of the controller 26). Via this interface 28 datamay be exchanged between the two controllers 20 and 26 in order toreceive the position information from the controller 26 and to outputcontrol signals to the controller 26 for a failure handling procedure.The memory 22 of the failure handling controller 20 is configured tostore the position information received from the controller 26, whereinthe CPU 24 is configured to analyze the received position informationand to control the storing of the position information, e.g., varyingthe temporal resolution. Furthermore, the CPU 24 detects or determines afailure and controls the robot via the controller 26 based on the storeddata in case of a failure.

It is illustrated by the topology of the two controllers 20 and 26 thatthe controller 20 may be an autonomously processing unit; thus, thecontroller 20 may be designed as a retrofit component.

According to further embodiments the controller may be directly coupledto the robot as illustrated by FIG. 2b . FIG. 2b shows the robot 10coupled to the robot controller 26 and to the controller for failurehandling 20. Alternatively, the two controllers 20 and 26 may becombined to a control unit performing the operation controlling and thefailure handling.

With respect to FIGS. 3a and 3b an embodiment enabling to vary thetemporal resolution will be discussed. Starting from the diagram of FIG.1f , it becomes clear that the variance of the temporal resolutionenables to vary the sampling resolution of the trajectory 18. The timeaxis of Figure if shows a plurality of marks, each assigned to a pointof time of recording. As can be seen the number of recordings betweenthe points t_(P2) and t_(P3) is increased when compared to the number ofmarks between the points t_(P1) and t_(P2). This increase of thetemporal resolution is preferably made in case of a high movementvelocity. FIG. 3a illustrates the dependency of the distance traveledΔx, the time slot Δt and the velocity v.

In detail, FIG. 3a shows two diagrams, wherein the first diagramillustrates that an increasing time difference Δt between two recordingsleads to an increased distance traveled Δx when the velocity v (of theTCP) is constant. The second diagram illustrates that an increasedvelocity v (of the TCP) leads to a higher resulting distance traveled Δxper time unit (Δt) when the time span Δt stays unchanged. A preferredway to define the time slots Δt is to adapt same based on the maximumvelocity. A further way is to select the time slot Δt such that thedistance traveled Δx is sufficiently small in case of a curve trajectoryand increased when the trajectory is straight. Background thereof isthat it is a common goal to reduce the number of recordings in order toreduce the CPU load of the robot controller or of the interrupt system.This strategy is illustrated by FIG. 3 b.

Below, a further embodiment will be discussed with respect to FIG. 4.FIG. 4a shows an exemplary trajectory 30 in an assembly process, thetrajectory comprising eleven predefined positions for the TCP. Eachposition P1 to P11 complies with a turning point of the TCP, i.e., witha change of the motion direction of the TCP. As discussed above, themotion of the TCP and thus the change of the motion direction resultsfrom a combination of different movements of the plurality of joints ofthe robot. The below discussion is made with respect to the trajectory30 of the TCP representing a combination of the movements of thedifferent joints. The trajectory of the robot or the plurality ofindependent movements resulting in the trajectory is defined during aninitial setup. During the setup a plurality of different trajectories,e.g., the trajectory 30 for different assembly processes, may bedefined. Here, the points P1 to P4 are so called global points which areused for each of the different trajectories, wherein the point P1 is thestarting point of the robot. The point P4 may be the point at which awork piece is turned into a horizontal position. The points P5 and P6are manufacturing process specific and thus may vary dependent on theselected manufacturing program. The point P9 is a so called strategicpoint of the trajectory 30 at which the gripper attached to the toolcenter point is opened in order to deposit the work piece (illustratedby the arrow). The points P7 and P8 are dependent on the point P9;therefore, the positions P7 and P8 may also be referred to as dynamicpositions or respective positions. These dynamic positions have theadvantage that a displacement of the position P9 also leads to adisplacement of the previous positions P7 and P8. The points P10 and P11(after the deposition of the work piece) define the path of the TCP outof the working area and are also dynamic positions dependent on theposition P9. The dependency is stored during the so called teachingprocess during the initial setup. Note that this motion path via thepoints P10 and P11 is typically passed without the work piece. The pointP11 and P5 of the trajectory, the TCP returns to the position P1directly from the point P11 via the points P5, P4, P3 and P2 withoutpassing the points P10, P9, P8, P7 and P6. Such a trajectory enablesthat the area 32 enclosed by the trajectory 30 from P5 to P5 is notcrossed by the TCP, so the area 32 may be reserved for another objectlike another robot.

FIG. 4b illustrates a clash of the TCP at the trajectory 30. The clashhappened at a point P_(k) between the points P8 and P9. The clash isdetectable via an integrated function of the robot which enables toswitch the robot into the soft acting mode. This mode stops the robotintermediately and activates a forceless mode for each joint in order toavoid damaging the robot, the collision object or the work piece.However, due to the soft acting the position P_(x) after the clash isout of the predefined trajectory 30. Added to this, the collision objectmay eventually be within the trajectory 30, e.g., at the point P_(k) ofthe trajectory 30. Therefore, there is a need to control the robot suchthat same returns to the start position P1 without colliding the object(cf. position P_(k)) again.

Here, some binaries for the return path are given: for example, the area32 may not be crossed. Furthermore, due to the fact that the work piecehas not been released the TCP cannot use the trajectory portioncomprising the points P10 and P11. Therefore, the preferred approach isto return to the position P1 via the trajectory points P8, P7, P6, P5,P4, P3 and P2, i.e., via the recorded path, as illustrated by FIG. 4 c.

In order to avoid a further clash at the point P_(k) the failurehandling controller controls the robot such that the TCP returns not tothe last recorded position, but to the last known safe position P_(s),e.g., the position lying on the trajectory 30 before the point of theclash P_(k) (i.e., between the point P₈ and P_(k)). The exact positionof the point P_(s) depends on the temporal resolution of the recording.As discussed above, the robot is controlled such that same moves alongthe trajectory 30′ in a backward direction starting from the point P_(s)or P_(x) and the point P₁.

Referring to FIG. 4b it should be noted that the recording of thetrajectory 30 may be stopped after passing a strategic point, like thepoint P9 (TCP-position at which the gripper is opened in order torelease the work piece) so that the return path after passing thisstrategic point may comply with a portion of the predefined trajectory30 comprising the points P10, P11, P5, P4, P3, P2 and P1. Consequently,that means, that a clash after the point P9 leads to a failure handlingprocedure not being based on the recorded position information.Background thereof is that it can reasonably be assumed that thetrajectory 30 in the area of the release point P9 may be occupied by thework piece or another robot handling the work piece. Therefore,according to further embodiments the method may comprise the step ofstop the recording when passing a predefined strategic position of thetrajectory 30. In such cases the failure handling procedure may beperformed such that the TCP is moved along the forward direction back tothe predetermined trajectory 30.

Referring to the embodiment of FIG. 1 it should be noted that the motiondata set illustrated by the tables may be enlarged by usinginterpolation calculations. This interpolation may, for example, be doneduring the failure handling procedure and thus when the TCP is movedalong the backward trajectory.

Referring to FIG. 1a it should be noted that collision sensing systemmay, for example, be based on a analyzing of the torque levels of thesingular movement axes. Background thereof is that a deviation (e.g.,larger than +10% or +5%) of the measured or determined torque level fromthe regular (known) torque level indicates a collision. Thedetermination of the torque level may be done by analyzing the motorcurrents of the joint actors for the respective movement axes.

Referring to FIG. 2a it should be noted that the control signals outputby the failure handling controller 20 may be processed by the controller26 such that the control signals output by the failure handling control20 are combined with the standard control signal of the controller 26.This enables a smooth motion of the TCP.

Referring to FIG. 4 it should be noted that some points, e.g., thepoints P1, P2, P3 or P4 may be defined as global positions also for thefailure handling procedure. Defining such global positions for thefailure handling procedure enables that the return trajectory 30′ iscongruent with the forward trajectory 30. Typically, at least the startposition P1 is defined as such a global point. Here, it may beadvantageous to store the global points independently from the recordedpoints.

With respect to FIGS. 1b-1f , it should be noted that the numericalrecording of the singular movement positions of the entire robot or ofthe plurality of movement axes may be stored in a comparable format asillustrated by the above table. Furthermore, it should be noted that thestored values (value of rotation, angle value of flection and/or valueof linear displacement) may be absolute values (e.g., angle between tworobot arm segments) or may be values dependent on the absolute values.

Although aspects of embodiments of the invention have been described foran articulated arm robot (robot having a serial kinematic) these aspectsor the entire method for failure handling may also be used for robotshaving a different shape, like a robot having a parallel kinematic (cf.humanoid robot) or a Stewart platform (cf. hexapod) or for anotherautomatized device. Furthermore, the number of joints and thus thenumber of movement axes is not limited, so, in general, the number maybe n, with n≧1.

Although some aspects have been described in the context of anapparatus, it is clear that these aspects also represent a descriptionof the corresponding method, where a block or device corresponds to amethod step or a feature of a method step. Analogously, aspectsdescribed in the context of a method step also represent a descriptionof a corresponding block or item or feature of a correspondingapparatus. Some or all of the method steps may be executed by (or using)a hardware apparatus, like for example, a microprocessor, a programmablecomputer or an electronic circuit. In some embodiments, some one or moreof the most important method steps may be executed by such an apparatus.

Depending on certain implementation requirements, embodiments of theinvention can be implemented in hardware or in software. Theimplementation can be performed using a digital storage medium, forexample, a floppy disk, a DVD, a Blu-Ray, a CD, a ROM, a PROM, an EPROM,an EEPROM or a FLASH memory, having electronically readable controlsignals stored thereon, which cooperate (or are capable of cooperating)with a programmable computer system such that the respective method isperformed. Therefore, the digital storage medium may be computerreadable.

Some embodiments according to the invention comprise a data carrierhaving electronically readable control signals, which are capable ofcooperating with a programmable computer system, such that one of themethods described herein is performed.

Generally, embodiments of the present invention can be implemented as acomputer program product with a program code, the program code beingoperative for performing one of the methods when the computer programproduct runs on a computer. The program code may, for example, be storedon a machine readable carrier.

Other embodiments comprise the computer program for performing one ofthe methods described herein, stored on a machine readable carrier.

In other words, an embodiment of the inventive method is, therefore, acomputer program having a program code for performing one of the methodsdescribed herein, when the computer program runs on a computer.

A further embodiment of the inventive methods is, therefore, a datacarrier (or a digital storage medium, or a computer-readable medium)comprising, recorded thereon, the computer program for performing one ofthe methods described herein. The data carrier, the digital storagemedium or the recorded medium are typically tangible and/ornon-transitionary.

A further embodiment of the inventive method is, therefore, a datastream or a sequence of signals representing the computer program forperforming one of the methods described herein. The data stream or thesequence of signals may, for example, be configured to be transferredvia a data communication connection, for example via the Internet.

A further embodiment comprises a processing means, for example acomputer, or a programmable logic device, configured to or adapted toperform one of the methods described herein.

A further embodiment comprises a computer having installed thereon thecomputer program for performing one of the methods described herein.

A further embodiment according to the invention comprises an apparatusor a system configured to transfer (for example, electronically oroptically) a computer program for performing one of the methodsdescribed herein to a receiver. The receiver may, for example, be acomputer, a mobile device, a memory device or the like. The apparatus orsystem may, for example, comprise a file server for transferring thecomputer program to the receiver.

In some embodiments, a programmable logic device (for example, a fieldprogrammable gate array) may be used to perform some or all of thefunctionalities of the methods described herein. In some embodiments, afield programmable gate array may cooperate with a microprocessor inorder to perform one of the methods described herein. Generally, themethods are preferably performed by any hardware apparatus.

The above described embodiments are merely illustrative for theprinciples of the present invention. It is understood that modificationsand variations of the arrangements and the details described herein willbe apparent to others skilled in the art. It is the intent, therefore,to be limited only by the scope of the impending patent claims and notby the specific details presented by way of description and explanationof the embodiments herein.

What is claimed is:
 1. A method for failure handling of a robot havingat least a first movement axis and a second movement axis, the methodcomprising: recording a trajectory of the robot during operation,wherein recording comprises: receiving, during the operation, a firstposition information of the first movement axis for a first point oftime and a first position information of the second movement axis forthe first point of time and storing the received first positioninformation as a motion data set; and receiving, during the operation, asecond position information of the first movement axis for a secondpoint of time and a second position information of the second movementaxis for the second point of time and storing the received secondposition information in the motion data set; and controlling the robotaccording to a failure procedure if a robot failure is detected, thefailure procedure comprising: triggering the robot to move the first andsecond movement axes to second positions of the first and secondmovement axes; and triggering the robot to move the first and secondmovement axes to first positions the first and second movement axes. 2.The method according to claim 1, wherein the robot has a plurality ofmovement axes; wherein receiving and storing the first positioninformation of the first movement axis and of the second movement axiscomprises receiving and storing first position information of furthermovement axes of the plurality of movement axes; and wherein receivingand storing the second position information of the first movement axisand of the second movement axis comprises receiving and storing secondposition information of the further movement axes.
 3. The methodaccording to claim 1, further comprising: a method step of receiving athird position information of the first movement axis for a third pointof time and a third position information of the second movement axis forthe third point of time and storing the received third information inthe motion data set after receiving and storing the second positioninformation; and a procedure step of triggering the robot to move thefirst and second movement axes to the third positions before triggeringthe robot to move the first and second movement axes to the secondpositions.
 4. The method according to claim 3, wherein a time differencebetween the first point of time and the second point of time isequidistant to a time difference between the second point of time andthe third point of time.
 5. The method according to claim 1, wherein atime difference between the first point of time and the second point oftime is adapted dependent on at least one of a velocity of a firstmoving axis and a velocity of a second moving axis.
 6. The methodaccording to claim 5, wherein the time difference is reduced if at leastone of the velocity of the first moving axis and the second moving axisis high, or wherein the time difference is enlarged if at least one ofthe velocity of the first moving axis and the second moving axis ishigh.
 7. The method according to claim 1, wherein the first positioninformation and the second position information are stored in the motiondata set as absolute values for a first moving axis and a second movingaxis.
 8. The method according to claim 1, wherein the first positioninformation and the second position information are stored in the motiondata set as values for a first moving axis and a second moving axis, andwherein at least one of the values is out of the group consisting of avalue of rotation, an angle value of flection and a value of lineardisplacement.
 9. The method according to claim 1, further comprising: amethod step of receiving a first velocity information of the firstmovement axis for a period of time between the first point of time andthe second point of time and a first velocity information of the secondmovement axis for the period of time between the first point of time andthe second point of time and storing the received first velocityinformation in the motion data set; and a procedure step of controllingthe robot to move the first and second movement axes from the secondpositions of the first and second movement axes to the first positionsof the first and second movement axes with respective velocitiesaccording to the stored first velocity information.
 10. The methodaccording to claim 1, further comprising: a method step of receiving afirst acceleration information of the first movement axis for a periodof time between the first point of time and the second point of time anda first acceleration information of the second movement axis for theperiod of time between the first point of time and the second point oftime and storing the received first acceleration information in themotion data set; and a procedure step of controlling the robot to movethe first and second movement axes from the second positions of thefirst and second movement axes to the first positions of the first andsecond movement axes with respective inverted accelerations according tothe stored first acceleration information.
 11. The method according toclaim 1, wherein at least one position of the first and second movementaxes is predefined for a point of time predefined relative to at leastone of the first and second point of time, and wherein the failureprocedure comprises triggering the robot to move the first and secondmovement axes to the predefined position.
 12. The method according toclaim 11, wherein the predefined position is defined by Cartesiancoordinates in a space.
 13. The method according to claim 11, whereinthe predefined position is a start position of the robot.
 14. The methodaccording to claim 11, wherein the predefined position is a lastrecorded position without failure.
 15. The method according to claim 14,wherein triggering the robot to move the first and second movement axesto the predefined position is performed such that a position, at whichthe failure has been detected, is bypassed.
 16. The method according toclaim 1, wherein the detected failure is a clash of the robot which isconfigured to perform a soft acting procedure in case of the clash. 17.The method according to claim 1, wherein the steps of triggering therobot to move the first and second movement axes to the second positionsof the first and second movement axes and the first positions of thefirst and second movement axes comprise sub steps of outputting controlsignals to or via a control unit of the robot, and wherein the controlsignals are post-processed by the control unit in order to enable therobot to move according to a robot specific movement profile.
 18. Themethod according to claim 1, wherein the motion data set is stored in atable having a first dimension for the respective movement axes and asecond dimension for the respective point of times.
 19. A non-transitorycomputer readable digital storage medium having stored thereon acomputer program having a program code for performing, when running on acomputer, a method for failure handling of a robot having at least afirst movement axis and a second movement axis, the method comprising:recording a trajectory of the robot during operation, wherein recordingcomprises: receiving, during the operation, a first position informationof the first movement axis for a first point of time and a firstposition information of the second movement axis for the first point oftime and storing the received first position information as motion dataset; and receiving, during the operation, a second position informationof the first movement axis for a second point of time and a secondposition information of the second movement axis for the second point oftime and storing the received second position information in the motiondata set; and controlling the robot according to a failure procedure ifa robot failure is detected, the failure procedure comprising:triggering the robot to move the first and second movement axes tosecond positions of the first and second movement axes; and triggeringthe robot to move the first and second movement axes to first positionsof the first and second movement axes.
 20. An apparatus for failurehandling of a robot having at least a first movement axis and a secondmovement axis, wherein the apparatus comprises a processor forcontrolling the robot, wherein the apparatus comprises a first interfacefor receiving position information and a second interface forcontrolling the robot, and wherein the apparatus is configured to:record a trajectory of the robot during operation by receiving aposition information of the first and the second movement axes of therobot; store motion data using a memory; and control the robot if therobot causes a failure via control signals which are based on the storedmotion data, wherein the stored motion data comprise a first positioninformation of the first movement axis for a first point of time duringthe operation, a second position information of the first movement axisfor a second point of time during the operation, a first positioninformation of the second movement axis for the first point of timeduring the operation and a second position information of the secondmovement axis for the second point of time during the operation, whereinthe control signals comprise a first control signal triggering the robotto move the first and second movement axes to second positions of thefirst and second movement axes and a second control signal triggeringthe robot to move the first and second movement axes to first positionsof the first and second movement axes, and wherein the first controlsignal is output before outputting the second control signal such thatthe robot moves to the second positions of the first and second movementaxes before moving to the first positions of the first and secondmovement axes.
 21. The apparatus according to claim 20, wherein theapparatus comprises the memory configured to store and to provide themotion data set.
 22. A controller for controlling a robot having atleast a first movement axis and a second movement axis, wherein thecontroller comprises a processor for controlling the robot, and whereinthe controller is configured to: control the first and the secondmovement axes according to a control algorithm; record a trajectory ofthe robot during operation; store motion data using a memory; andcontrol the robot if the robot causes a failure via control signalswhich are based on the stored motion data, wherein the stored motiondata comprise a first position information of the first movement axisfor a first point of time during the operation, a second positioninformation of the first movement axis for a second point of time duringthe operation, a first position information of the second movement axisfor the first point of time during the operation and a second positioninformation of the second movement axis for the second point of timeduring the operation, wherein the control signals comprise a firstcontrol signal triggering the robot to move the first and secondmovement axes to second positions of the first and second movement axesand a second control signal triggering the robot to move the first andsecond movement axes to first positions of the first and second movementaxes, and wherein the first control signal is output before outputtingthe second control signal such that the robot moves to the secondpositions of the first and second movement axes before moving to thefirst positions of the first and second movement axes.
 23. A robotcomprising: a first movement axis; a second movement axis; a controllerfor controlling the first and second movement axes; and an apparatus forfailure handling, the apparatus being configured to record a trajectoryof the robot during operation, to store motion data using a memory andto control the robot if the robot causes a failure via control signalswhich are based on the stored motion data, wherein the stored motiondata comprise a first position information of the first movement axisfor a first point of time during the operation, a second positioninformation of the first movement axis for a second point of time duringthe operation, a first position information of the second movement axisfor the first point of time during the operation and a second positioninformation of the second movement axis for the second point of timeduring the operation, wherein the control signals comprise a firstcontrol signal triggering the robot to move the first and secondmovement axes to second positions of the first and second movement axesand a second control signal triggering the robot to move the first andsecond movement axes to first positions of the first and second movementaxes, and wherein the first control signal is output before outputtingthe second control signal such that the robot moves to the secondpositions of the first and second movement axes before moving to thefirst positions of the first and second movement axes.
 24. The robotaccording to claim 23, wherein the robot comprises more movement axesthan degrees of freedom.
 25. The robot according to claim 23, whereinthe apparatus for failure handling is embedded into the controller.